Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
  • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
  • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

• the present invention relates to a legged mobile robot and a control program thereof.
• a compliance mechanism is provided to reduce the impact on the legs when the foot is landed, and the foot trajectory is set in consideration of the deformation of compliance when the foot is landed.
• a technical approach has been proposed. As a result, for example, while the biped mobile robot is running, the target floor reaction force increases rapidly from 0 immediately after the transition from the air phase to the one-leg support phase, as shown in FIG. If the force is maintained constant and the force is set to suddenly decrease to 0 immediately before the next aerial period, the amount of deformation of the compliance mechanism due to this target floor reaction force is shown in Fig. 19 (c). It is estimated that it changes. Also, as shown in FIG. 19 (a), the desired foot height is corrected and reset as shown in FIG. 19 (d) so that the amount of deformation is compensated.
• the compliance mechanism is deformed due to a response delay of the actuator as a motor for the leg, a transmission delay of the driving force transmission system, and a response delay due to the deflection of the leg mechanism.
• the actual floor reaction force acting on the foot is shown in Fig. 19 (b) after the transition from the non-contacting phase to the grounding phase.
• the actual floor reaction force should have been zero due to the foot leaving the floor with the transition to the next non-contact period, the floor reaction force should be finite.
• the actual floor reaction force will remain (load loss will worsen). For this reason, the toe portion of the foot, etc. may be caught on the floor surface, and the subsequent operation of the robot may become unstable at least temporarily.
• the present invention includes a base, a plurality of legs extending downward from the base, and a compliance mechanism that reduces the landing impact of each leg, and landing of the ground contact portion at the tip of each leg
• the present invention also relates to a legged mobile robot that moves by the movement of each leg with getting out of bed.
• the movement of the leg is controlled so that the ground contact portion is landed at a predetermined speed in the vertical direction or in the direction perpendicular to the floor surface. It is characterized by having a leg control means to perform!
• the ground contact portion is landed at a predetermined speed downward in the vertical direction or downward in the direction perpendicular to the floor surface.
• the actual floor reaction force can be changed to the target floor reaction force with good followability.
• the load on the leg immediately after the transition to the landing phase as described above becomes temporarily excessive, or the load drop becomes worse at the transition to the next bed leaving phase, so that a part of the foot becomes the floor surface. Therefore, it is possible to control the robot operation stably.
• the impact on the leg when landing is alleviated and a force to pull a part of the foot of the leg when leaving the floor is applied.
• the force with which the leg of the moving robot steps on the floor can be appropriately controlled.
• the legged mobile robot provides a target of floor reaction force acting on the ground contact portion.
• Target floor reaction force setting means for setting the value as the target floor reaction force is provided, and the leg control means immediately after landing of the ground contact part of the leg by the target floor reaction force set by the target floor reaction force setting means.
• the leg motion is adjusted so that the predetermined speed is within the range of [0, 1, 10] with respect to the absolute value of the rate of change in the vertical direction or the vertical direction of the deformation amount of the compliance mechanism that occurs. It is characterized by controlling.
• the ratio exceeds ⁇ 10 '', the load loss when leaving the floor is good, but the load on the leg when landing exceeds the maximum target floor reaction force, albeit temporarily.
• the possibility increases. Therefore, in view of the powerful knowledge, the movement of the legs is controlled so that the ratio falls within [0. 1, 10], so that the impact on the legs during landing can be mitigated while leaving the floor. It is possible to control the movement of the robot stably by making the load loss at the time good.
• the legged mobile robot includes target floor reaction force setting means for setting a target value of the floor reaction force acting on the ground contact site as the target floor reaction force, and controls the leg. Based on the rate of change in the vertical or floor perpendicular direction of the deformation of the compliance mechanism that occurs immediately after landing of the ground contact part of the leg due to the target floor reaction force set by the target floor reaction force setting means.
• the predetermined speed is determined, and the movement of the leg is performed so that the speed of the ground contact portion in the vertical direction or the floor normal direction is the predetermined speed determined before landing. It is characterized by controlling.
• the legged mobile robot includes a target floor reaction force setting means for setting a target value of a floor reaction force acting on the ground contact part as a target floor reaction force, and a target floor reaction force setting.
• Mechanism deformation amount determining means for determining the deformation amount of the compliance mechanism generated by the target floor reaction force set by the means as the mechanism deformation amount, and the target position of the ground contact portion of the leg is determined as the target ground contact portion gauge.
• the target ground contact part trajectory setting means set as the road and the target ground contact part trajectory set by the target ground contact part trajectory setting means are affected by the mechanism deformation amount determined by the mechanism deformation amount determining means on the target ground contact part trajectory.
• the leg Based on the rate of change of the vertical component of the quantity or the vertical component of the floor surface, the leg is adjusted so that the speed of the ground contact part downward in the vertical direction or downward in the vertical direction of the floor becomes a predetermined speed before landing.
• the movement of the leg is controlled according to the corrected target grounding part trajectory by the target grounding part trajectory correcting means during the landing period of the grounding part while controlling the motion.
• the landing speed of the ground contact portion is controlled based on the rate of change of the vertical direction component or the floor normal direction component of the mechanism deformation immediately after landing of the ground contact portion.
• the target ground contact part trajectory correcting means has the vertical component of the target ground contact part trajectory set by the target ground contact part trajectory setting means or the floor perpendicular.
• the direction component is corrected so as to be shifted upward based on the amount of deformation of the mechanism immediately after landing of the ground contact portion determined by the mechanism deformation amount determining means during the leaving period of the ground contact portion.
• the period is characterized by correcting downward based on the mechanism deformation amount set by the mechanism deformation amount determining means.
• the target ground contact part trajectory in the landing period is corrected downward by the amount of mechanism deformation corresponding to the target floor reaction force in the landing period, while the target in the leaving period is corrected.
• the contact part trajectory is revised upward based on the mechanism deformation immediately after landing of the contact part.
• the legged mobile robot includes a target floor reaction force setting means for setting a target value of a floor reaction force acting on the contact portion as a target floor reaction force, and a target floor reaction force setting.
• Mechanism deformation amount determining means for determining the deformation amount of the compliance mechanism caused by the target floor reaction force set by the means as the mechanism deformation amount, and target grounding for setting the target position of the ground contact portion of the leg as the target ground contact portion trajectory.
• a target ground contact part trajectory correcting means for determining a corrected target ground contact part trajectory, and the target floor reaction force setting means is a vertical component or a floor normal direction in the landing part of the ground contact part. While the target floor reaction force is set to be positive, the hypothetical target floor in which the vertical component or the floor normal component of the ground contact area is negative based on the target floor reaction force immediately after landing is negative. A reaction force is set, and the leg control means controls the movement of the leg according to the corrected target ground contact part trajectory determined by the target ground contact part trajectory correction means.
• the target ground contact part trajectory in the landing period is corrected downward by determining the positive mechanical deformation amount according to the positive floor reaction force in the landing period. Is done.
• the target ground contact part trajectory in the bed leaving period is corrected upward.
• the legged mobile robot according to the first aspect of the present invention is based on the mechanism deformation amount determined by the mechanism deformation amount determining means for compensating for the influence of the mechanism deformation amount on the target ground contact part trajectory.
• a mechanism deformation compensation amount setting means for setting a mechanism deformation compensation amount is provided, and the target ground part trajectory correcting means is set by the target grounding part setting means based on the mechanism deformation compensation amount set by the mechanism deformation compensation amount setting means. Correct the target contact point trajectory It is characterized by that.
• the vertical direction component or the floor normal direction component of the velocity of the ground contact part is determined when the floor is left, immediately before, And a target gait setting means for setting a target gait that satisfies a dynamic equilibrium condition while having a ground contact part trajectory that is zero in one or both of the following and the target ground part trajectory. Correcting the target ground contact part trajectory so that the vertical component or floor normal component of the speed of the ground contact part is not zero immediately before, at the time of landing, or immediately after landing.
• the leg is moved to the floor surface.
• a leg control means for controlling the approach speed of the ground contact portion.
• the followability of the actual floor reaction force to the target floor reaction force is improved, and the load on the leg immediately after the transition to the landing phase as described above is achieved.
• To control the robot in a stable manner avoiding situations in which the momentary overload is temporarily excessive, or the load is not lost during the transition to the next bed leaving phase and part of the foot is pulled on the floor. Can do.
• the impact on the leg when landing is mitigated, and a part of the foot of the leg when leaving the floor is avoided by pulling on the floor. Therefore, the force with which the leg of the moving mouth bot steps on the floor can be appropriately controlled.
• the legged mobile robot includes a target ZMP setting means for setting a target ZMP, and the target gait setting means has a condition that the motion of the target gait satisfies the target ZMP. And a target gait is set using the dynamic equilibrium condition.
• the present invention includes a base, a plurality of legs extending downward from the base, and a compliance mechanism that reduces the landing impact of each leg, and landing of the ground contact portion at the tip of each leg
• the present invention also relates to a program for providing a computer mounted on the robot with a function of controlling the operation of a legged mobile robot that moves by the movement of each leg accompanied by getting out of bed.
• the control program according to the first aspect of the present invention for solving the above-described problems controls the movement of the leg so that the ground contact portion is landed at a predetermined speed downward in the lead direction or in the direction perpendicular to the floor surface.
• a leg control function for the computer mounted on the robot It is characterized by that.
• the impact on the leg when landing is mitigated, and a part of the foot of the leg when leaving the floor is a pulling force to the floor.
• the robot is given a function that can appropriately control the force with which the leg of the moving robot steps on the floor.
• control program includes a target floor reaction force setting function for setting a target value of the floor reaction force acting on the ground contact site as a target floor reaction force, which is mounted on the robot.
• the robot has a function to control the movement of the leg so that the predetermined speed is within the range of [0, 1, 10] with respect to the absolute value of the rate of change in the vertical direction or the vertical direction of the floor. It is characterized by being given to an on-board computer.
• control program has the target floor reaction force setting function for setting the target value of the floor reaction force acting on the contact portion as the target floor reaction force mounted on the robot.
• the amount of deformation of the compliance mechanism that occurs immediately after the landing of the ground contact part of the leg due to the target floor reaction force set by the target floor reaction force setting function as a leg control function.
• the predetermined speed is determined based on the rate of change in the vertical direction or the vertical direction of the floor surface, and the speed of the grounding portion downward in the vertical direction or downward in the vertical direction of the floor surface becomes the predetermined predetermined speed before landing.
• the function of controlling the movement of the leg is given to the computer mounted on the robot.
• control program includes a target floor reaction force setting function for setting a target value of a floor reaction force acting on the ground contact site as a target floor reaction force, and a target floor reaction force setting function.
• a mechanism deformation amount determination function that determines the deformation amount of the compliance mechanism caused by the set target floor reaction force as the mechanism deformation amount, and a target ground contact part trajectory that sets the target position of the ground contact part of the leg as the target ground contact part trajectory
• a target that corrects the target ground contact part trajectory set by the setting function and the target ground contact part trajectory setting function so that the influence of the mechanism deformation amount determined by the mechanism deformation amount determination function on the target ground contact part trajectory is compensated.
• a grounding part orbit correction function to the computer mounted on the robot and
• the leg control function is based on the rate of change of the vertical component or the vertical component of the mechanical deformation immediately after landing of the ground contact part determined by the mechanism deformation determination function during the leaving period of the ground contact part. While controlling the movement of the leg so that the vertical downward direction of the ground contact part or the downward direction of the floor surface becomes a predetermined speed by the time of landing, According to the target ground contact part trajectory corrected by the target ground contact part trajectory correction function, a function of controlling the movement of the leg is given to the computer mounted on the robot.
• control program uses, as the target ground contact part trajectory correction function, a vertical component or a floor vertical direction component of the target ground contact part trajectory set by the target ground contact part trajectory setting function, In the leaving period of the ground contact part, the mechanism is corrected to shift upward based on the mechanism deformation amount immediately after landing of the ground contact part determined by the mechanism deformation amount determining function, while in the landing period of the ground contact part, A function of correcting downward based on the mechanism deformation amount set by the mechanism deformation amount determining function is given to the computer mounted on the robot.
• control program includes a target floor reaction force setting function for setting a target value of the floor reaction force acting on the contact portion as a target floor reaction force, and a target floor reaction force setting function.
• a mechanism deformation amount determination function that determines the deformation amount of the compliance mechanism caused by the set target floor reaction force as the mechanism deformation amount, and a target ground contact part trajectory that sets the target position of the ground contact part of the leg as the target ground contact part trajectory
• the target ground contact part trajectory set by the setting function and the target ground contact part trajectory setting function is corrected so that the influence of the mechanism deformation amount determined by the mechanism deformation amount determination function on the target ground contact part trajectory is compensated.
• the target grounding part trajectory correction function for determining the corrected target grounding part trajectory is given to the computer mounted on the robot, and the target floor reaction force setting function is used as the target floor reaction force setting function. While setting the target floor reaction force in which the vertical direction component or floor normal direction component in the landing phase of the part is positive, the vertical direction in the leaving phase of the ground contact part based on the target floor reaction force immediately after landing A function for setting a virtual target floor reaction force in which a component or a floor surface normal direction component is negative is given to the computer, and it is determined by a target ground contact part trajectory correction function as a leg control function. Control the movement of the leg according to the corrected target ground contact part trajectory A function is given to the computer.
• control program is based on the mechanism deformation amount determined by the mechanism deformation amount determination function, and compensates for the influence of the mechanism deformation amount on the target ground contact portion trajectory.
• a mechanism deformation compensation amount setting function for setting a compensation amount is given to the computer mounted on the robot, and the mechanism deformation compensation set by the mechanism deformation compensation amount setting function is set as a target ground contact part trajectory correction function.
• the computer is provided with a function of correcting the target grounding part trajectory set by the target grounding part setting function based on the amount to the computer mounted on the robot.
• the control program according to the second aspect of the present invention for solving the above-mentioned problem is that the vertical direction component or the floor normal direction component of the speed of the ground contact part is determined at the time of leaving the floor, immediately before it, at the time of landing and A target gait setting function that sets a target gait that satisfies a dynamic equilibrium condition while having a ground contact part trajectory that is 0 in one or both immediately after that, and at and immediately before leaving the bed, Corrected target grounding part trajectory so that the vertical component or floor normal component of the velocity of the grounding part will not be zero at the time of landing and immediately after, or both Based on the corrected target grounding part trajectory setting function to be set as the grounding part trajectory and the corrected target grounding part trajectory setting function set by the corrected target grounding part trajectory setting function, the legs are operated to contact the floor. It is characterized in that a leg control function for controlling the approach speed of the ground part is given to the computer mounted on the robot.
• the impact on the leg at the time of landing is mitigated, and a part of the foot of the leg at the time of leaving the floor is a pulling force to the floor.
• the robot is given a function that can appropriately control the force with which the leg of the moving robot steps on the floor.
• control program provides a target ZMP setting function for setting a target ZMP to a computer mounted on the robot, and the target gait setting function is a target gait setting function.
• a function for setting a desired gait is given to the computer mounted on the robot, with the condition that the gait motion satisfies the target ZMP as the dynamic equilibrium condition.
• FIG. 1 is a schematic diagram showing an outline of the overall configuration of a biped mobile robot as a legged mobile robot in an embodiment of the present invention.
• FIG. 2 is a side view showing the configuration of the foot portion of each leg of the robot of FIG.
• FIG. 3 is a block diagram showing the configuration of a control unit provided in the robot of FIG.
• FIG. 4 is a block diagram showing a functional configuration of the control unit of FIG.
• FIG. 5 is an explanatory diagram illustrating the running gait of the robot of FIG.
• FIG. 6 is a diagram showing an example of setting a desired floor reaction force vertical component.
• FIG. 7 is a diagram showing an example of setting a target ZMP.
• FIG. 8 is a flowchart showing main routine processing of the gait generator provided in the control unit of FIG.
• FIG. 9 is a flowchart showing the subroutine processing of FIG.
• FIG. 10 is a diagram showing an example of setting a floor reaction force horizontal component allowable range of a normal gait.
• FIG. 11 is a flowchart showing subroutine processing of the flowchart of FIG.
• FIG. 12 is a diagram showing a setting example of a floor reaction force horizontal component allowable range of the current time's gait.
• FIG. 13 is a diagram showing a setting example of a desired floor reaction force vertical component in a walking gait.
• FIG. 14 is a flowchart illustrating a setting process of a desired floor reaction force vertical component in a walking gait.
• FIG. 15 is an explanatory diagram of a first embodiment of a leg motion control method for a robot according to the present invention.
• FIG. 16 is an explanatory diagram of a first embodiment of a leg motion control method for a robot according to the present invention.
• FIG. 17 is an explanatory diagram of a second embodiment of a leg motion control method for a robot according to the present invention.
• FIG. 18 is an explanatory diagram of a second embodiment of the leg motion control method of the robot according to the present invention.
• FIG. 19 is an explanatory diagram of a robot leg motion control method in the prior art.
• FIG. 1 is a schematic diagram showing an outline of the overall configuration of a biped mobile robot as a legged moving mouth bot to which the gait generating device and the control device according to the present embodiment are applied.
• a bipedal mobile robot hereinafter referred to as a robot
• a robot 1 includes a pair of left and right legs (leg link) 2 and 2 extending downward from the upper body 24. Both legs 2, 2 have the same structure, each with six joints.
• the six joints are the joints 10R and 10L for the rotation (rotation) of the crotch (waist) (from the upper body 24) in order from the upper body 24 side (reference symbols R and L are the right leg respectively) It is a sign that it corresponds to the body and the left leg (the same applies hereinafter), and the joints 12R, 12L for rotation in the roll direction (around the X axis) of the crotch (waist) and the crotch (waist) Joints 14R, 14L for rotation in the pitch direction (around the Y axis), joints 16R, 16L for rotation in the pitch direction of the knee, and joints 18R, 18L for rotation in the pitch direction of the ankle, and ankle roll It consists of joints 20R and 20L for rotation in the direction.
• a foot (foot) 22R (L) constituting the tip of each leg 2 is attached.
• the upper body (base body) 24 is placed at the uppermost position of both legs 2 and 2 through three joints 10R (L), 12R (L) and 14R (L) of the crotch of each leg 2. It is attached.
• a control unit 26 which will be described in detail later. In FIG. 1, for convenience of illustration, the control unit 26 is shown outside the upper body 24.
• the control unit 26 includes the CPU, ROM, RAM, signal input circuit, signal output circuit, and the like as hardware, and the present invention as software that gives the operation control function of the robot 1 to this hardware. It consists of "control program”.
• the hip joint (or the hip joint) has joints 10R (L) and 12R.
• knee joint is composed of joint 16R (L)
• ankle joint is composed of joints 18R (L), 20R (L).
• the hip joint and the knee joint are connected by a thigh link 28 R (L), and the knee joint and the ankle joint are connected by a crus link 30R (L).
• a pair of left and right arms are attached to both sides of the upper portion of the upper body 24, and a head is disposed at the upper end of the upper body 24. Since these arm bodies and heads are not directly related to the gist of the present invention, a detailed description thereof will be omitted, but each arm body is attached to the upper body 24 by a plurality of joints provided therefor. On the other hand, it is possible to perform operations such as swinging back and forth.
• each leg 2 Due to the configuration of each leg 2, the foot 22R (L) of each leg 2 has six A degree is given.
• the desired motion of both feet 22R and 22L can be performed.
• the robot 1 can arbitrarily move in the three-dimensional space.
• the position and speed of the upper body 24 described later in this specification is a predetermined position of the upper body 24, specifically, a representative point that is determined by force of the upper body 24 (for example, between the left and right hip joints). This means the position of the center point, etc.) and its moving speed.
• the position and speed of each foot 22R, 22L mean the position of the representative point determined by each foot 22R, 22L and its moving speed.
• the representative point of each foot 22R, 22L is, for example, on the bottom surface of each foot 22R, 22L (more specifically, the center force of the ankle joint of each leg 2) At a point where the perpendicular to the bottom surface intersects the bottom surface).
• a known 6-axis force sensor 34 is interposed between the foot 22R (L) below the ankle joints 18R (L) and 20R (L) of each leg 2. ing.
• the six-axis force sensor 34 is for detecting the presence / absence of the foot 22R (L) of each leg 2 and the floor reaction force (ground load) acting on each leg 2.
• the detection signals of the three-direction components Fx, Fy, Fz of the translational force of the floor reaction force and the three-way components Mx, My, Mz of the moment are output to the control unit 26.
• the body 24 is provided with an inclination sensor 36 for detecting the inclination (posture angle) of the body 24 with respect to the Z axis (vertical direction (gravity direction)) and its angular velocity, and the detection signal is The tilt sensor 36 force is also output to the control unit 26.
• Each joint of the robot 1 detects the electric motor 32 (see Fig. 3) and the rotation amount of each electric motor 32 (rotation angle of each joint) to drive it.
• an encoder (rotary encoder) 33 (see FIG. 3) for performing the operation.
• a detection signal of the encoder 33 is output from the encoder 33 to the control unit 26.
• a spring mechanism (first compliance mechanism) 38 is provided between each foot 22R (L) and the six-axis force sensor 34 above the foot 22R (L).
• a sole elastic body (second compliance mechanism) 40 that has a force such as rubber is attached to the bottom surface of each foot 22R (L).
• These spring mechanism 38 and sole elastic body 40 constitute a compliance mechanism 42.
• the spring mechanism 38 includes a rectangular guide member (not shown) attached to the upper surface of the foot 22R (L), an ankle joint 18R (L) (in FIG.
• the ankle joint 20R (L) And a piston-like member (not shown) that is mounted on the side of the six-axis force sensor 34 and is housed in the guide member through a coasting material (rubber or spring) so as to be finely movable. ing.
• the compliance mechanism is composed of the leg 2 links 28 and 30.
• the foot 22R (L) indicated by the solid line in FIG. 2 shows a state when the floor reaction force is not received.
• the spring mechanism 38 of the compliance mechanism 42 and the sole elastic body 40 bend, and the foot 22R (L) moves to the position and posture illustrated by the dotted line in the figure.
• the structure of the compliance mechanism 42 is also important for improving the controllability of the robot 1 not only to reduce the landing impact. The details are described in Japanese Patent Application Laid-Open No. 5-305584 previously proposed to the applicant, and thus detailed description thereof is omitted.
• a force not shown in FIG. 1 is provided outside the robot 1 with a joystick (operator) 44 (see FIG. 3) for maneuvering the robot 1 to operate the joystick 44.
• a request for the gait of the robot 1 can be input to the control unit 26 as necessary, such as turning the robot 1 moving straight ahead.
• the request that can be input includes, for example, a gait form (walking, running, etc.) when the robot 1 is moving, landing position / posture and landing time of the free leg, or command data that defines the landing position / posture and landing time. (For example, the moving direction and moving speed of the robot 1).
• FIG. 3 is a block diagram showing the configuration of the control unit 26.
• the control unit 26 is composed of a microcomputer, and the first arithmetic unit 60 and the second arithmetic unit 62, which also have CPU power, an AZD variable ⁇ 50, a counter 56, a DZA variable ⁇ 66, a RAM 54, a ROM 64, In addition, a bus line 52 for exchanging data between them is provided.
• the output signals of the 6-axis force sensor 34, the tilt sensor 36, the joystick 44, etc. of each leg 2 are converted into digital values by AZD conversion and then sent to RA ⁇ 54 via the bus line 52. Entered.
• the output of the encoder 33 (rotary encoder) of each joint of the robot 1 is input to the RAM 54 via the counter 56.
• the first arithmetic unit 60 generates a desired gait as described later, and joint angle displacement fingers.
• Command command value of displacement angle of each joint or rotation angle of each electric motor 32
• RAM54 the second arithmetic unit 62 reads out the joint angle displacement command from the RAM 54 and the actual value of the joint angle detected based on the output signal of the encoder 33, and calculates the operation amount necessary for driving each joint. Then, the output is output to the electric motor 32 that drives each section via the DZA conversion 66 and the servo amplifier 32a.
• FIG. 4 is a block diagram generally showing the functional configuration of the gait generator and the controller of the robot 1 in the present embodiment.
• the parts other than the “real robot” part in FIG. 4 are constituted by processing functions (mainly functions of the first arithmetic unit 60 and the second arithmetic unit 62) executed by the control unit 26.
• processing functions mainly functions of the first arithmetic unit 60 and the second arithmetic unit 62
• the symbols R and L are omitted when it is not necessary to distinguish between the left and right of the leg 2.
• the gait generator 100 and the desired floor reaction force distributor 106 constitute “target floor reaction force setting means”, and the gait generator 100 sets “target foot (ground contact part) trajectory setting”.
• the composite compliance operation determining unit 104 constitutes “target foot (grounding part) trajectory correcting means”, and the joint displacement controller 108 constitutes “leg control means” of the present invention.
• the control unit 26 includes a gait generator 100 that generates and outputs a desired gait freely and in real time as will be described later.
• the gait generator 100 constitutes each means of the present invention by its function.
• the target gait output by the gait generator 100 is the target body position / posture trajectory (the trajectory of the target position and target posture of the upper body 24), the target foot position / posture trajectory (the target position and target trajectory of each foot 22). Posture trajectory), target arm posture trajectory (target posture trajectory of each arm), target total floor reaction force center point (target ZMP) trajectory, and target total floor reaction force trajectory.
• the target position / posture trajectory of the movable part is added to the target gait.
• the “trajectory” in the gait means a temporal change pattern (time-series pattern), and in the following description, it may be referred to as “pattern” instead of “trajectory”.
• “Attitude” means spatial orientation.
• the body posture is the inclination angle (posture angle) of the body 24 in the roll direction (around the X axis) with respect to the Z axis (vertical axis) and the body 24 in the pitch direction (around the Y axis).
• the foot posture is represented by a biaxial spatial azimuth that is fixedly set on each foot 22. In this specification, the body posture is sometimes called the body posture angle.
• the desired floor reaction force is generally expressed by an action point and a translational force and a moment acting on the point. Since the action point is good for everywhere, countless expressions can be considered even with the same target floor reaction force, but in particular, the target floor reaction force is set with the target floor reaction force center point (target position of the center point of all floor reaction forces) as the action point. Expressing force, the moment component of the desired floor reaction force is zero except for the vertical component (the moment around the vertical axis (Z axis)). In other words, the horizontal component (moment about the horizontal axis (X axis and Y axis)) of the moment of the target floor reaction force around the target floor reaction force center point becomes zero.
• a target gait in a broad sense is a set of a target motion trajectory and its target floor reaction force trajectory for a period of one step! / or multiple steps.
• the target gait in the narrow sense is a set of the target motion trajectory for the period of one step and its ZMP trajectory.
• a series of gaits shall be a combination of several gaits.
• the target trajectory of the robot 1 is determined after explicitly setting the target trajectory of the floor reaction force vertical component. Therefore, in this specification, the following b ′) is used as the definition of the target gait in a narrow sense.
• the target gait in the narrow sense is a set of the target motion trajectory for the period of one step, its target ZMP trajectory and the target translational floor reaction force vertical component trajectory.
• the target gait will be used in the narrow sense of the target gait in the above b ') unless otherwise specified.
• the target gait “one step” is used to mean the time from when one leg 2 of the robot 1 has landed until the other leg 2 has landed.
• floor reaction force vertical component means “translational floor reaction force vertical component”
• the moment vertical component of the floor reaction force (vertical axis component) is And the term “floor reaction force vertical component”.
• floor reaction force water ration means “translational floor reaction force horizontal component”.
• the period in which both legs are supported in the gait is the period in which the robot 1 supports its own weight with both legs 2 and 2, and the one leg supporting period is the weight of the robot 1 in only one leg 2.
• the period during which the legs are supported, the air period refers to the period during which the legs 2 and 2 are separated from each other (floating in the air).
• the leg 2 on the side that does not support the weight of the robot 1 during the one-leg support period is called “free leg”.
• the one-leg support period (landing period) and the aerial period are alternately repeated without the both-leg support period.
• both legs 2 and 2 do not support the dead weight of mouth bot 1 in the air period, but were leg 2 and support legs that were free legs in the single leg support period immediately before the air period.
• Leg 2 is also referred to as a free leg and a supporting leg, respectively, even during the aerial period.
• This running gait is the same gait as a normal human running gait.
• the leg 2 (support leg) of the robot 1 on either the left or right side of the leg 1 is supported (one leg support period) and the legs 2 and 2 float in the air. Are repeated alternately.
• the first state in Figure 5 is the state at the beginning of the one-leg support period (the initial stage), the second state is the state at the midpoint of the one-leg support period, and the third state is the air-phase period following the one-leg support period State at the start (at the end of the one-leg support period), state 4 at the middle of the aerial period, state 5 at the end of the aerial period (at the start of the next one-leg support period) Showing the state.
• the robot 1 has a foot on the side of the supporting leg (the leg 2 on the front side in the traveling direction of the robot 1) at the start of the one-leg supporting period. Land with heel 22 strength.
• the second state of FIG. 5 after the robot 1 has landed almost the entire bottom surface of the landed foot 22 (foot 22 on the supporting leg side), the third foot in FIG.
• the floor 22 on the supporting leg side (the robot 1 in the third state in FIG. 5 in the direction of travel, the foot 22 on the rear leg 2) kicks the floor and jumps into the air.
• the one leg support period ends and the air period begins.
• the free leg in the single-leg support period is the force that exists on the back side of the support leg at the start of the single-leg support period.
• support for the next planned landing position It swings out to the front side of the holding leg.
• mouth bot 1 is the foot of the free leg (the leg 2 that had become a free leg in the single leg support period just before the start of the aerial phase).
• the next single leg support period begins.
• the robot 1 may land on almost the entire sole of the foot 22 that is not the heel of the foot 22 on the support leg side.
• a basic outline of the target gait generated by the gait generator 100 will be described in consideration of the running gait of FIG. Although details will be described later, when the gait generator 100 generates the target gait, the target gait such as the landing position / posture (scheduled landing position / posture) and landing time (scheduled landing time) of the foot 22 on the free leg side
• a basic request value (request parameter) for generation is given to the gait generator 100 according to a required operation of the joystick 44 or the like.
• the gait generator 100 generates a desired gait using the required parameters. More specifically, the gait generator 100 defines some components of the desired gait, such as the desired foot position / posture trajectory of the desired gait and the desired floor reaction force vertical component trajectory, according to the required parameters. After determining the parameters to be used (gait parameters), the instantaneous values of the desired gait are sequentially determined using the gait parameters, and a time series pattern of the desired gait is generated.
• the desired foot position / posture trajectory (more specifically, the target trajectory of each spatial component (X-axis component etc.) of the foot position and posture) is, for example, as disclosed in Japanese Patent No. 3233450. It is generated for each foot 22 using the proposed finite time settling filter.
• This finite-time settling filter is a first-order lag filter with a variable time constant, that is, a filter whose transfer function is expressed as 1 ⁇ (1 + ⁇ s), where ⁇ is a variable time constant. Filters) are connected in series in multiple stages (in this embodiment, three or more stages), and can generate and output a trajectory that reaches a specified value at a desired specified time.
• the time constants ⁇ of the unit filters at each stage are variably set sequentially according to the remaining time from the start of output generation of the finite time settling filter to the specified time. More specifically, as the remaining time becomes shorter, the value is decreased by a predetermined initial value (> 0), and finally, at the specified time when the remaining time becomes 0, It is set to become power ⁇ .
• the finite time settling filter is given a step input having a height corresponding to the specified value (more specifically, the amount of change from the initial value of the finite time settling filter output to the specified value). Such a finite time settling filter reaches a specified value at a specified time.
• the rate of change of the output of the finite time settling filter at the specified time can be made zero or almost zero just by generating such an output.
• the change acceleration (differential value of the change speed) of the output of the finite time settling filter can be made zero or almost zero.
• the desired foot position trajectory in the X-axis direction is generated as follows. That is, the X-axis direction position of the next planned landing position of each foot 22 determined by the required parameters (more specifically, the amount of change in the X-axis direction relative to the landing position immediately before the next planned landing position (movement amount This corresponds to the specified value), and the step input height to the finite time settling filter is determined and the time constant is initialized to a predetermined initial value and then determined.
• the step input is given to the finite time settling filter, and trajectory generation of the foot 22 in the X-axis direction is started.
• the time constant ⁇ is sequentially variably set so as to decrease to the initial value force 0 by the scheduled landing time of the foot 22 (which corresponds to the specified time). .
• a trajectory of the foot 22 in the X-axis direction is generated so that the planned landing position is reached at the scheduled landing time.
• the desired foot position trajectory in the heel axis direction (vertical direction) is generated as follows, for example.
• the position of the foot 22 in the heel axis direction when the height (vertical position) of the foot 22 becomes maximum (hereinafter, The highest point position) and the time to reach the highest point position are determined.
• the highest point position the position of the foot 22 in the heel axis direction when the height (vertical position) of the foot 22 becomes maximum
• the height of the step input to the finite time settling filter is determined according to the highest point position (which corresponds to the specified value), and the time constant is initialized and then determined.
• the step input is given to the finite time settling filter, and the foot position trajectory in the heel axis direction to the highest point position is sequentially generated.
• the time constant ⁇ is sequentially variably set so that the initial value force also decreases to 0 by the time of arrival at the highest point position (corresponding to the specified time). Furthermore, when generation of the trajectory in the axial direction up to the highest point position is completed, the time constant is initialized and the step input with the opposite polarity to the previous step input (more specifically, the highest point position force The amount of change in the radial direction to the planned position (this corresponds to the specified value) Step input with a corresponding reverse polarity) is input to the finite time settling filter, and the trajectory of the foot position in the Z-axis direction up to the planned landing position is also generated sequentially. At this time, the time constant ⁇ is set to be variable so that the initial force also decreases to 0 by the scheduled landing time of the foot 22.
• the time constant ⁇ is variable so as to continuously decrease from the time when the trajectory is generated to the time when the foot 22 is scheduled to land to the initial value force 0.
• the foot position trajectory in the heel axis direction may be generated by switching the polarity of the step input to the reverse polarity at the time of arrival at or near the highest point position. In this case, the foot 22 cannot reach the desired highest point position with high accuracy, but can reach the planned landing position at the planned landing time without any problem.
• the foot posture trajectory can also be generated using a finite time settling filter in the same manner as the foot position trajectory described above.
• the components whose angle change of the posture is monotonic (monotonic increase or monotonic decrease)
• the foot posture trajectory may be generated in the same manner as the foot position trajectory in the X-axis direction described above.
• a foot posture trajectory may be generated in the same manner as the generation of the foot position trajectory in the heel axis direction.
• the desired foot position / posture trajectory generated by the finite time settling filter as described above is a target position / posture trajectory of each foot 22 in a support leg coordinate system, which will be described later, fixed to the floor surface. .
• the position of each foot 22 is gradually accelerated from its initial ground contact state (the state of the initial time of the target gait) toward the planned landing position. While starting to move. Then, the desired foot position / posture trajectory is generated such that the rate of change of the position downward in the vertical direction or in the direction perpendicular to the floor perpendicular becomes 0 at the scheduled landing time. For this reason, the ground speed at the moment of landing of each foot 22 (the changing speed of the position of each foot 22 in the support leg coordinate system fixed to the floor) becomes positive.
• the rate of change of the foot position vertically downward or the floor normal direction downward at the force landing scheduled time when the foot position trajectory is generated using the finite time settling filter is 0.
• the desired foot position trajectory is generated using a function such as a polynomial that is set so that the time derivative of the foot position is 0 in the vertical direction downward direction or the floor normal direction downward direction. Also good.
• the generation of the desired foot posture trajectory at the time when almost the entire bottom surface of each foot 22 is installed on the floor as described above, the posture of each foot 22 is vertically below or perpendicular to the floor surface. Functions such as polynomials are set so that the rate of downward change is zero.
• the desired floor reaction force vertical component trajectory is set as shown in FIG. 6, for example.
• the shape of the desired floor reaction force vertical component trajectory in the running gait (specifically, the shape in the single leg support period) is defined as a trapezoid (a shape convex to the increase side of the floor reaction force vertical component).
• the gait parameters are determined using the height of the trapezoid and the time of the break point as the gait parameters that define the desired floor reaction force vertical component trajectory.
• the desired floor reaction force vertical component is constantly set to zero.
• the target floor reaction force vertical component trajectory should be set to be substantially continuous (so that the value does not become discontinuous).
• substantially continuous means that the jump of the value that inevitably occurs when digitally representing an analog continuous trajectory (a true continuous trajectory) in a discrete time system is It is not something that loses continuity.
• the target ZMP trajectory is set as follows. In the running gait of FIG. 5, as described above, the landing is performed with the force of the foot 22 of the supporting leg (for example, the first grounding point among the planned grounding points of the foot 22), and then the foot on the supporting leg side. Kick with flat 22 toes, jump into the air, and finally land with the power of foot 22 on the free leg side. Therefore, the target ZMP trajectory during the single leg support period is shown in the upper part of Fig.
• the upper diagram in Fig. 7 shows the target ZMP trajectory in the X-axis direction (front-rear direction), and the lower diagram in Fig. 7 shows the target ZMP trajectory in the Y-axis direction (left-right direction). Note that the target ZMP trajectory in the Y-axis direction during the one-leg support period is set to the same position as the center position of the ankle joint of the support leg side leg 2 in the Y-axis direction, as shown in the lower diagram of FIG. .
• the target ZMP may be set discontinuously.
• the target ZMP is set so that the target ZMP position force at the time of getting out of bed (at the end of the one-leg support period) does not move.
• the target ZMP trajectory may be set so as to move to).
• the position of the target ZMP trajectory in the aerial phase in the X-axis direction is the pinch of the supporting leg side foot 22 before the landing of the next free leg side leg 2.
• the force is also continuously moved to the landing position of the force heel of the free leg side foot 22.
• the Y-axis position of the target ZMP trajectory during the airborne period is the center of the ankle joint of the supporting leg-side leg 2 before the landing of the next leg 2
• Position force in the Y-axis Continuous movement to the position in the Y-axis direction at the center of the ankle joint of the free leg side leg 2 was made.
• the target ZMP trajectory was made continuous (substantially continuous) throughout the gait. Then, as will be described later, the target gait is generated so that the resultant momentum (excluding the vertical component) of gravity and inertial force around the target ZMP becomes zero (more specifically, the target body position / posture trajectory). Adjusted).
• the position of the break point of the target ZMP trajectory and the time force ZMP trajectory parameters are set.
• the meaning of “substantially continuous” in the ZMP trajectory described above is that of the floor reaction force vertical component trajectory. Same as the case.
• the ZMP trajectory parameters are determined so that the stability margin is high and no sudden change occurs.
• a state in which the target ZMP exists near the center of the smallest convex polygon (so-called support polygon) including the contact surface of the robot 1 is said to have a high stability margin (for details, refer to Japanese Patent Laid-Open No. 10-86081). reference).
• the target ZMP trajectory in Fig. 7 is set to satisfy these conditions.
• the target arm posture is expressed as a relative posture with respect to the upper body 24.
• the desired body position / posture, the desired foot position / posture, and a later-described reference body posture are described in a global coordinate system.
• the Groinole coordinate system is a coordinate system fixed to the floor as described above. More specifically, as the global coordinate system, the support leg coordinate system described later is used.
• the gait generator 100 in this embodiment is a target gait for one step from the landing of one leg 2 of the robot 1 to the landing of the other leg 2 (meaning in the narrow sense).
• the desired gait for one step is generated in turn in units of the desired gait at). Therefore, in the running gait shown in FIG. 5 generated in the present embodiment, the target gait is from the start of the one-leg support period to the end of the subsequent air period (at the start of the next one-leg support period).
• the desired gaits up to are generated in order.
• the new target gait to be generated is called “current gait”, the next target gait is “next gait”, and the next target gait is “next gait”. Call it like this.
• the target gait generated immediately before the “current time gait” is referred to as the “previous gait”.
• the gait generator 100 When the gait generator 100 newly generates the current time's gait, the gait generator 100 includes the planned landing position / posture of the free leg side foot 22 up to two steps ahead of the robot 1, The required value (request) of the scheduled landing time is input as a request parameter for the gait (or the gait generator 100 reads the request parameter from the storage device). The gait generator 100 uses these required parameters to calculate the target body position / posture trajectory, target foot position / posture trajectory, target ZMP trajectory, target floor reaction force vertical component trajectory, target arm posture trajectory, etc. Generate. At this time, some of the gait parameters that define these trajectories are appropriately modified to ensure the continuity of walking.
• FIG. 8 is a flowchart (structure flowchart) showing the gait generation process executed by the gait generator 100.
• This process is performed when the gait generator 100 is activated. Next, the process proceeds to SO 14 via S012, and the gait generator 100 waits for a timer interrupt for each control cycle (the calculation processing cycle in the flowchart of FIG. 8). The control period is At.
• the process proceeds to S016, where it is determined whether or not it is a gait change point, and when it is a gait change point, the process proceeds to S018, and when it is not a change point, the process proceeds to S030.
• gait changeover means the timing when generation of the previous time's gait is completed and generation of the current time's gait starts. The control cycle becomes the gait change point.
• time t is initialized to 0, and then proceeding to S020, where the next gait support leg coordinate system, the next gait support leg coordinate system, the current gait cycle and the next gait cycle are read. Is included.
• These supporting leg coordinate systems and gait cycles are determined by the required parameters. That is, in this embodiment, the required parameters given to the gait generator 100 from the joystick 44 and the like are the predicted landing position posture of the free leg side foot 22 up to two steps ahead (the foot 22 has landed and The foot position and posture in a state where the floor is rotated without sliding so that the bottom is almost entirely in contact with the floor surface), and the required value for the expected landing time.
• the requested values for the gait correspond to the current time's gait and the next time's gait, respectively, and are given to the gait generator 100 before the start of generation of the current time's gait (the gait change in S016). It is what was done. These required values can be changed during the generation of the current time's gait.
• the gait generator 100 determines a gait parameter of a normal turning gait as a virtual periodic gait following the current time's gait.
• the gait parameter is a foot trajectory parameter that defines the target foot position / posture trajectory in a normal turning gait, Standard body posture trajectory parameter that defines body posture trajectory, arm trajectory parameter that defines target arm posture trajectory, ZMP trajectory parameter that defines target ZMP trajectory, target floor reaction force lead Floor reaction force vertical component that defines direct component trajectory Includes trajectory parameters.
• the parameters that define the target floor reaction force horizontal component tolerance range are also included in the gait parameters.
• the “steady turning gait” means the motion state of the robot 1 at the gait boundary (in this embodiment, the gait boundary for each step) when the gait is repeated ( It is used to mean a periodic gait that does not cause discontinuities in the foot position / posture, body position / posture, etc.
• the “normal turning gait” may be abbreviated as “normal gait”.
• the normal turning gait is provisional in order for the gait generator 100 to determine the motion state of the robot 1, such as the divergent component at the end of the current gait, the body vertical position velocity, the body posture angle, and the angular velocity.
• the gait generator 100 does not output the gait generator 100 as it is.
• divergence means that the position of the upper body 24 of the bipedal mobile robot 1 shifts to a position far away from the positions of both feet 22 and 22.
• the value of the divergent component is the position of the upper body 24 of the biped mobile robot 1 at the positions of both feet 22 and 22 (more specifically, the global coordinate system set on the ground of the supporting leg side foot 22 ( It is a numerical value that indicates how far away from the origin of the support leg coordinate system).
• the foot trajectory parameter of the gait parameters of the normal gait is connected so that the foot position / posture trajectory is connected in the order of the current time gait, the first turning gait, and the second turning gait. Is determined.
• the foot 22 of the leg 2 on the support leg side is referred to as a support leg foot
• the foot 2 of the leg 2 on the free leg side is referred to as a free leg foot.
• the “initial” and “end” of the gait mean the gait start time, end time, or instantaneous gait at those times, respectively.
• the foot trajectory parameters are the positions and postures of the supporting leg foot and the free leg foot in the initial stage and the end of the first turning gait and the second turning gait, It consists of a gait cycle.
• the first swing gait initial free leg The foot position / posture is the foot position / posture at the end of the current time's gait viewed from the next time's gait support leg coordinate system. In this case, in the running gait, the supporting leg foot 22 at the end of the current time gait is moving in the air.
• Required values for the planned landing position / posture of the leg foot 22 (support for the current time's gait) (required values for the expected landing position / posture for the next time's gait of the foot foot 22) or the next gait supporting leg coordinates corresponding to the required value
• the foot position / posture trajectory (specifically, the trajectory seen from the next time's gait supporting leg coordinate system) to the gait end position of the next time's gait is determined according to the system. It is calculated
• a reference body posture trajectory parameter that defines a reference body posture trajectory that the target body posture should follow is determined.
• the reference body posture is connected at the beginning of the normal gait (the initial of the first turning gait) and the end (the end of the second turning gait) (the reference body posture at the beginning and end of the normal gait)
• the reference body posture is an upright posture (vertical posture). ). That is, in the present embodiment, the reference body posture is set to the upright posture during the entire period of the normal gait. Therefore, in the present embodiment, the angular velocity and angular acceleration of the posture angle of the reference body posture are zero.
• arm posture trajectory parameters more specifically, arm posture trajectory parameters other than those relating to the angular momentum change of both arms around the vertical axis (or upper body trunk axis) are determined.
• arm posture trajectory parameters such as the relative height of the hand of the arm with respect to the upper body 24 and the relative center of gravity of the entire arm are determined.
• the relative center-of-gravity position of the entire arm is set to be kept constant with respect to the upper body.
• the floor reaction force vertical component trajectory parameter is set.
• the floor reaction force vertical component trajectory defined by the parameter is substantially continuous as shown in FIG. 6 even if the first turning gait and the second turning gait are misaligned.
• the floor reaction force vertical component trajectory parameters are set so that That is, the target floor reaction force vertical component trajectory of the normal turning gait is set in a pattern as shown in FIG. In that pattern, in both the first turning gait and the second turning gait, The force vertical component changes to a trapezoidal shape, and the floor reaction force vertical component is maintained at 0 in the air.
• the time at the break point of this pattern and the height (peak value) of the trapezoidal part are set as the floor reaction force vertical component trajectory parameters.
• the floor reaction force horizontal component has a limit that cannot generate any force friction generated by friction between the floor and the foot 22. Therefore, the floor reaction force horizontal component of the target gait must always be within the friction limit in order to prevent slipping when the actual robot 1 moves according to the generated target gait. Therefore, in order to satisfy this condition, a floor reaction force horizontal component allowable range is set, and the target gait is set so that the floor reaction force horizontal component of the target gait is within this allowable range as described later. It was decided to generate.
• Fxmin ka * ⁇ * Floor reaction force vertical component
• the floor reaction force horizontal component permissible range in Figure 1710 is an example set according to Equation 12.
• the value and time at the break point of the trapezoidal waveform shown in Fig. 1710 may be set as a parameter to define the floor reaction force horizontal component permissible range, but when determining the floor reaction force horizontal component permissible range using Equation 12. Can simply set the value of (ka *) in Equation 12 as a parameter.
• ZMP trajectory parameters that define the ZMP trajectory of the normal gait combining the first turning gait and the second turning gait are set.
• the target ZMP trajectory is set so that it has a high stability margin and does not change rapidly as described above.
• the force heel of the foot 22 is set as an initial position so that almost the entire bottom surface of the foot 22 remains in that position until it comes into contact with the ground.
• the target ZMP moves to the center of the support leg foot 22 and moves to the toe until the foot 22 comes into contact with the toe, and then stays on the toe of the support leg foot 22 until leaving the floor.
• the target ZMP continues until the next landing position of the free leg foot 22 as described above, and the target Z MP continues to reach the landing position of the support leg foot 22 and the force foot of the free leg foot 22 Set to move automatically.
• the time and position of the breakpoint of this target ZMP trajectory are set as ZMP trajectory parameters.
• the time of the break point is set according to the gait cycle of the first turning gait and the second turning gait determined according to the required parameters, and the position of the break point is the next gait support.
• the position of the ZMP trajectory in the Y-axis direction is set in the same manner as that shown in the lower diagram of FIG. More specifically, the trajectory of the target ZMP in the Y-axis direction in the first turning gait is set in the same pattern as that in the lower diagram of FIG. Is set to the same trajectory as that of the first turning gait and connected to the end of the trajectory.
• the initial state calculated here is the initial body horizontal position speed (initial body position and initial body speed in the horizontal direction) of the normal gait, initial body vertical position speed (the initial body position in the vertical direction) Body position and initial body velocity), initial divergence component, initial body posture angle and its angular velocity. This initial state is calculated exploratoryly.
• the foot trajectory parameters of the current time gait are set so that the foot position / posture trajectory of the current time gait is connected to the foot position / posture trajectory of the normal gait.
• the process proceeds to S602, where the reference body posture trajectory parameter force of the current time's gait is determined in the same manner as the first turning gait of the normal gait and the second turning gait.
• the reference body posture trajectory of the current time's gait is continuously connected to the reference body posture trajectory of the normal gait (the reference body posture angle and angular velocity at the end of the current time's gait are on the basis of the initial normal gait, respectively.
• the above parameters are set to match the body posture angle and angular velocity.
• the standard body posture is a normal vertical posture even if the current time's gait and normal gait are different or misaligned.
• the arm posture trajectory parameters of the current time's gait are determined in the same manner as the first turning gait and the second turning gait of the normal gait. However, the above parameters are set so that the arm posture trajectory of the current time's gait is continuously connected to the arm posture trajectory of the normal gait.
• the arm posture trajectory parameters determined here are the changes in the angular momentum of both arms around the vertical axis (or upper trunk axis), as in the case of the determination of the normal gait parameters (S104 in Fig. 9). It is a motion parameter other than that related to it, and is a parameter that defines the trajectory of the center of gravity of both arms.
• the floor reaction force vertical component trajectory parameter force of the current time's gait is the same as the first turning gait of the normal gait and the second turning gait of the normal gait.
• the minute orbit is set to be a substantially continuous orbit (does not fly in a value step).
• the floor reaction force vertical component trajectory parameter is determined so that the overall center of gravity vertical position velocity of the current time's gait and the floor reaction force vertical component trajectory are continuously connected to the normal gait. .
• the floor reaction force horizontal component permissible range [Fxmin, Fxmax] (specifically, the parameter defining the pattern of the floor reaction force horizontal component permissible range) is the first turn of the normal gait.
• the gait is set in the same way as the second turning gait.
• the floor reaction force horizontal component allowable range is set in the pattern shown in Fig. 12.
• the floor previously determined in S606 The floor reaction force horizontal component permissible range is set based on Equation 12 according to the reaction force vertical component pattern.
• the ZMP trajectory of the current time's gait (specifically the parameters that define the ZMP trajectory, the time and position of the trajectory breakpoint) is the first turning gait of the normal gait.
• the second turning gait it is set as shown in Fig. 7 so that the stability margin is high and there is no sudden change.
• the above parameters are set so that the ZMP trajectory of the current time's gait is continuously connected to the ZMP trajectory of the normal gait.
• the ZMP trajectory parameters are determined so that the ZMP position at the end of the current time's gait matches the ZMP position at the beginning of the normal gait.
• the method for setting the time and position of the break point of the ZMP track during the single leg support period may be the same as the method for setting the ZMP track parameter for the normal gait described above. Then, the ZMP trajectory parameters should be set so that the target ZMP trajectory in the air phase changes linearly and continuously from the start of the air phase to the ZMP position at the beginning of the normal gait.
• the ZMP trajectory parameters of the current time's gait determined in S610 are only temporarily determined, and are corrected as described later. Therefore, the ZMP trajectory of the current time gait set as described above will be referred to as the temporary target ZMP trajectory of the current time gait.
• the process After performing the process shown in S026 (gait parameter determination process for the current time's gait), the process then proceeds to S028 to correct the gait parameter (ZMP trajectory parameter) for the current time's gait.
• the ZMP trajectory parameters are modified to make the body position / posture trajectory continuous or close to the normal gait.
• the process proceeds to S032, and the arm motion for canceling the spin force (the floor reaction force moment vertical component generated around the target ZMP by movement other than the arm of robot 1 is made substantially zero) is determined.
• the floor reaction force moment vertical component trajectory in the target ZMP when the arm is not shaken (strictly speaking, when the gait is generated without shaking the arm, the resultant force of the robot's gravity and inertial force is
• the floor reaction force moment vertical component around the target ZMP instantaneous value that balances the instantaneous value of the gait motion generated by the processing of S030 (this includes arm swing motion) A value is determined.
• this angular acceleration is second-order integrated, and the angle obtained by passing this through a low-cut filter to prevent the integral value from becoming excessive is taken as the arm swinging operation angle.
• the left and right arms are swung in the reverse direction so that the center of gravity position of both arms is not changed. It is also possible to generate an arm swing motion for canceling the spinner even in a normal gait and determine the arm swing motion in this time's gait so as to connect to this.
• the above is the target gait generation process in the gait generator 100.
• the target gait is generated as described above.
• the target body position / posture (trajectory) and the target arm posture (trajectory) are sent to the robot geometric model (reverse kinematics calculation unit) 102.
• desired foot position / posture (trajectory), target ZMP trajectory (target total floor reaction force center point trajectory), and target total floor reaction force (trajectory) (target floor reaction force horizontal component and target floor reaction force) (Vertical component) is sent to the composite compliance action determination unit 104 and also to the target floor reaction force distributor 106.
• the target floor reaction force distributor 106 distributes the floor reaction force to each foot 22R, 22L, and determines the target foot floor reaction force center point and the target foot floor reaction force.
• the determined target foot floor reaction force center point and the target foot floor reaction force are sent to the composite compliance action determining unit 104.
• the corrected desired foot position / posture (trajectory) with mechanism deformation compensation is sent from the composite compliance action determination unit 104 to the robot geometric model 102.
• the robot geometric model 102 contains the target body position / posture (trajectory) and the corrected target foot position / posture (trajectory) with mechanical deformation compensation.
• joint displacement commands (values) of 12 joints (10R (L), etc.) of the legs 2 and 2 that satisfy them are calculated and sent to the displacement controller 108.
• the displacement controller 108 performs follow-up control on the displacements of the 12 joints of the robot 1 using the joint displacement command (value) calculated by the robot geometric model 102 as a target value.
• the robot geometric model 102 calculates the displacement designation (value) of the arm joint that satisfies the target arm posture and sends it to the displacement controller 108.
• the displacement controller 108 follows and controls the displacement of the 12 joints of the arm body of the mouth bot 1 using the joint displacement command (value) calculated by the robot geometric model 102 as a target value.
• the floor reaction force generated in the robot 1 (specifically, the actual foot reaction force) is detected by the 6-axis force sensor 34.
• the detected value is sent to the composite compliance operation determining unit 104.
• posture tilt deviation ⁇ errx, ⁇ erry (more specifically, deviation of actual posture angle with respect to target body posture angle, posture angle deviation in roll direction (around X axis) is ⁇ errx, and pitch
• a posture angle deviation in the direction (around the Y axis) is detected by the inclination sensor 36, and the detected value is sent to the posture stabilization control calculation unit 112.
• This posture stabilization control calculation unit 112 calculates a compensated total floor reaction force moment around the target total floor reaction force center point (target ZMP) for restoring the body posture angle of the robot 1 to the target body posture angle. It is sent to the composite compliance operation determination unit 104.
• the composite compliance operation determination unit 104 corrects the target floor reaction force based on the input value. Specifically, the target floor reaction force is corrected so that the compensated total floor reaction force moment acts around the target total floor reaction force center point (target ZMP).
• the composite compliance action determination unit (target ground contact part trajectory correcting means) 104 tries to make the actual robot state and the floor reaction force calculated, such as sensor detection values, coincide with the corrected target floor reaction force. Determine the corrected foot position / posture (trajectory) with mechanism deformation compensation. However, since it is virtually impossible to match all the states to the target, a trade-off relationship is given between them so that they can be compromised. In other words, the control deviation for each target is given a weight, and control is performed so that the weighted average of the control deviation (or the square of the control deviation) is minimized. As a result, the actual foot position / posture and the total floor reaction force are controlled to substantially follow the target foot position / posture and the target total floor reaction force.
• the walking gait is a gait in which the one-leg support period and the both-leg support period in the air are repeated alternately.
• the body vertical position trajectory determined from at least the geometrical conditions (geometric constraints) related to the displacement of the joints of each leg, such as whether the knee bending angle is appropriate —
• the floor reaction force vertical component trajectory is determined so as to satisfy as much as possible the features such as phase and amplitude of the body vertical position trajectory using the body height determination method described in the 86080 publication.
• the main part of the algorithm for generating gaits can be shared between running and walking, and it is also possible to shift from walking to running or from running to walking.
• each leg 2 is determined using the body height determination method previously proposed by the applicant in Japanese Patent Application No. 10-86080.
• the body vertical position trajectory that satisfies the predetermined geometrical constraints on the joint displacement is obtained.
• this is referred to as a reference body vertical position trajectory.
• the first embodiment of Japanese Patent Application No. 2000-352011 previously proposed by the present applicant is based on the foot trajectory parameters and the target ZMP trajectory parameters determined according to the required parameters. Use to find the horizontal position trajectory of the upper body.
• the body horizontal position trajectory assumes that the floor reaction force vertical component coincides with the robot 1's own weight, and that the body vertical position force is a constant value determined by force. Is determined to be the horizontal component force of the floor reaction force moment. Further, the body posture trajectory at this time may be a trajectory having a constant posture (such as a vertical posture).
• the foot trajectory is determined using the body height determination method previously proposed by the applicant of the present application (Japanese Patent Laid-Open No. 10-86080, more specifically, the method of Fig. 6 of the same publication).
• the body vertical position trajectory is calculated based on the foot trajectory determined by the parameters, the body horizontal position trajectory determined as described above, and the body posture trajectory, and this is used as the reference body vertical position trajectory.
• the reference body vertical position is determined.
• Features such as trajectory amplitude and phase are calculated (extracted).
• the reference body vertical The amplitude of the position trajectory (difference between the minimum value and the maximum value) is calculated as the feature amount.
• the process proceeds to S1304, and the body vertical position trajectory generated based on the floor reaction force vertical component trajectory parameters can satisfy the feature amount as much as possible (the reference body vertical position trajectory).
• the floor reaction force vertical component trajectory parameters (time at the break point and floor reaction force vertical component value) are determined so that the patterns are as similar as possible. More specifically, in the case of a walking gait, the first turning gait and the second turning gait of the normal gait and the floor reaction force vertical component trajectory of the current time gait are, for example, broken lines as shown in FIG.
• this floor reaction force vertical component trajectory is obtained by integrating the floor 1 from the beginning of the gait (start time of the both-leg support period) to the end (end time of the one-leg support period) of the first floor of the robot 1
• the floor reaction force vertical component trajectory parameters for example, the height of two trapezoids of the floor reaction force vertical component trajectory, so that the difference between the maximum and minimum values of the body vertical position trajectory corresponding to CI and C2 are determined (in this example, the breakpoint time of the floor reaction force vertical component trajectory is determined according to the required parameters for the gait cycle).
• the floor reaction force vertical component trajectory parameter of the normal gait is determined so as to satisfy the following conditions as described above.
• the average value in the entire normal gait period of the floor reaction force vertical component trajectory (the period of both the first and second turning gaits) is matched with the robot's own weight.
• the average value of the vertical component of the floor reaction force is set to the same magnitude as the gravity acting on the robot and in the opposite direction.
• the floor reaction force vertical component trajectory parameters of the current time's gait are determined so that the upper body (overall center of gravity) vertical position trajectory is continuously connected to or approaches the normal gait as described above.
• the desired floor reaction force vertical component trajectory in the walking gait (parameter that defines this) is determined.
• the gait generation process other than the determination process of the desired floor reaction force vertical component trajectory described above is the same as that in the embodiment related to the traveling gait described above.
• the amount of computation required to obtain the reference body vertical position trajectory is quite large, so the motion parameters of the normal gait (foot trajectory parameters, etc.) and the body (overall center of gravity) vertical position
• a map representing the relationship with the feature amount (amplitude, etc.) of the placement trajectory is created and stored in advance, and the feature amount is obtained by referring to the map from the given normal gait parameters. You may make it show.
• an operation of rotating (twisting) the upper body 24 around its trunk axis (or vertical axis) may be performed.
• the arm swinging motion and the motion of rotating (twisting) the upper body 24 around its trunk axis (or vertical axis) may be used in combination.
• the mechanism of the compliance mechanism 42 is based on the target floor reaction force instantaneous value as the target instantaneous value of the floor reaction force acting on the foot 22.
• the amount of deformation is calculated (S2102).
• a corrected foot position / posture trajectory with mechanism deformation compensation is determined based on the desired foot position / posture trajectory and the mechanism deformation amount (S2104).
• the vertical direction component or floor normal direction component of the floor increases continuously from 0 after the start of the landing period and is kept constant, and the force is also maintained. It is calculated as a continuous decrease to 0 by the end of.
• the vertical component or floor surface of the mechanism deformation compensation amount during the landing period As indicated by the solid line in Fig. 16 (c), the normal direction component decreases continuously from 0 after the start of the implantation period and remains constant. Calculated as a continuous increase to zero by the end of the landing phase.
• the desired foot height in the landing period set to 0 (the determination of foot trajectory parameters of the current time's gait (S600))
• the corrected target foot height with mechanism deformation compensation during the landing period is As shown by the solid line in Fig. 16 (d), it continuously decreases from 0 after the start of the implantation period and is kept constant until the end of the implantation period. Determined to increase.
• the upward shift pattern is determined (S2106)
• the instantaneous upward shift value is calculated (S2108)
• the upward shift instantaneous value is determined. Then, based on the desired foot position / posture trajectory, a corrected foot position / posture trajectory with mechanism deformation compensation is determined (S2110).
• the upward displacement force of the foot 22 at the time of leaving the bed After increasing, it is determined to decrease to 0 by the end of the bed leaving period. Then, the upward displacement (instantaneous value) indicated by the broken line in Fig. 16 (c) and the desired foot height in the bed leaving period set as indicated by the broken line in Fig. 16 (d) Based on (S600), the corrected target foot height with mechanism deformation compensation at the time of leaving the bed increases continuously from 0 after the start of the landing phase, as shown by the solid line in Fig. 16 (d). It is determined that the force is kept constant and the force decreases continuously to zero by the end of the landing phase.
• the desired foot height (see the broken line in Fig. 16 (d)) is the vertical component or the normal component of the floor deformation in the landing phase (Fig. 16 ( Figure 16 (d) shows a solid line that has been corrected downward by c) (see solid line) and corrected upward by the amount of upward displacement (see broken line in Figure 16 (c)) during the bed leaving period.
• Fig. 16 ( Figure 16 (d) shows a solid line that has been corrected downward by c) (see solid line) and corrected upward by the amount of upward displacement (see broken line in Figure 16 (c)) during the bed leaving period.
• the vertical component or the vertical component of the speed of the foot (ground contact part) 22 with respect to the floor is the amount of deformation of the compliance mechanism generated by the target floor reaction force immediately after landing. [0, 1, 10 for the absolute value of the rate of change of the vertical component or floor perpendicular component of The correction target height is set so that the ratio is within the range.
• the motion of the left and right legs 2 is controlled by the joint displacement controller 108 and the like.
• the vertical floor component of the actual floor reaction force acting on the foot 22 or the normal component of the floor normal direction is the target floor reaction force of the foot 22.
• the vertical direction component or floor normal direction component changes with good tracking. Therefore, as shown in Fig. 19 (e), the impact of the robot 1 becomes excessive immediately after the transition from the non-grounding period to the grounding period, or the load loss becomes worse when the transition from the grounding period to the non-grounding period occurs.
• the robot of the present invention from the viewpoint of mitigating the impact on the leg when landing, and avoiding the pulling force of a part of the foot of the leg when leaving the floor, the force with which the leg of the moving robot 1 steps on the floor surface can be appropriately controlled according to the landing impact mitigation characteristics of the compliance mechanism 42.
• the mechanism deformation amount is calculated based on the instantaneous value of the desired floor reaction force (S2202), and the desired foot position Based on the posture trajectory and the mechanism deformation amount, a corrected foot position / posture trajectory with mechanism deformation compensation is determined (
• the amount of mechanical deformation in the landing period As shown in Fig. 18 (b), the vertical component or the normal component of the floor continuously increases from 0 after the start of the landing period, and is maintained constant and the force is also maintained. It is calculated as a continuous decrease to 0 by the end of.
• the vertical direction component or the floor normal direction component of the mechanism deformation during the landing period shown in Fig. 18 (b) As shown in Fig. 18 (c), the vertical direction component or the floor normal direction component of the mechanical deformation compensation amount decreases continuously from 0 after the start of the landing period, and is maintained after it is maintained constant. Calculated as a continuous increase to zero by the end of the floor.
• the desired foot height in the landing period set to 0 (determining foot trajectory parameters of the current time's gait (S600))
• the corrected target foot height with mechanical deformation compensation at the landing stage is As shown by the solid line in Fig. 18 (d), it continuously decreases from 0 after the start of the implantation period and is kept constant until the end of the implantation period. Determined to increase.
• a virtual negative target floor reaction force pattern is determined (S2204), and the virtual target floor reaction force is determined.
• the mechanism deformation amount is calculated based on the instantaneous value of the desired floor reaction force (S2208)
• the desired foot position / posture trajectory and the mechanism deformation amount Based on this, a corrected foot position / posture trajectory with mechanism deformation compensation is determined (S2210).
• the vertical component or the floor perpendicular component of the target floor reaction force (instantaneous value) is virtually calculated during the bed leaving period. It is determined that it continuously decreases from 0 after the start of the movement, increases, then decreases again, and continuously increases to 0 by the end of the bed leaving period.
• the vertical component or floor normal component of the mechanism deformation during the leaving phase is shown.
• the directional component decreases continuously from 0 after the start of the weaning period and increases!
• the vertical component or floor normal direction of the mechanism deformation compensation amount during the bed leaving phase As shown in Figure 18 (c), the component continuously increases from 0 after the beginning of the bed leaving period, decreases, then increases again, and continuously decreases to 0 by the end of the bed leaving period. Calculated as a thing.
• the desired foot height (determining the foot trajectory parameters of the current time's gait (S600)) shown in dashed lines in Fig. 18 (d) and in Fig. 18 (c) , Mechanism in the bed leaving period
• the corrected target foot height with mechanism deformation compensation at the time of getting out of the floor is shown as a solid line in Fig. 18 (d). It is determined that it continuously increases from 0 after the beginning of the bed period, remains constant, and the force decreases continuously to 0 by the end of the bed period.
• the desired foot height is the mechanism deformation compensation according to the positive target floor reaction force (see Fig. 18 (a)) in the landing phase. It is corrected downward by the vertical component of the quantity or the normal component of the floor (see Fig. 18 (c)), and in response to the hypothetical negative target floor reaction force (see Fig. 18 (a)) What is corrected upward by the vertical component or the normal component of the floor surface (see Fig. 18 (c)) of the mechanism deformation compensation amount is shown in Fig. 18 (d). It is set as the corrected target height that changes smoothly and immediately before and immediately after the transition to the landing phase, and immediately before and immediately after the transition from the landing phase to the leaving phase.
• the vertical component or the vertical component of the speed of the foot (ground contact part) 22 with respect to the floor is generated by the target floor reaction force immediately after landing.
• the corrected target height is set so that the ratio is within the range of [0, 1, 10] with respect to the absolute value of the rate of change of the vertical component or the vertical direction component of the deformation.
• the vertical floor component of the actual floor reaction force acting on the foot 22 or the normal component of the floor surface is the target floor reaction force of the foot 22.
• the vertical direction component or the floor normal direction component changes with good tracking. Therefore, as shown in Fig. 19 (e), the impact of the robot 1 becomes excessive immediately after the transition from the leaving phase to the landing phase, or the load loss becomes worse during the transition from the landing phase to the leaving phase. Thus, it is possible to stably control the robot 1 by avoiding a situation in which a part of the foot 22 is attracted to the floor surface.
• the robot of the present invention from the viewpoint of mitigating the impact on the leg when landing, and avoiding the pulling force to the floor of a part of the foot of the leg when leaving the floor.
• the force with which the leg of the moving robot 1 steps on the floor responds to the landing impact mitigation characteristics of the compliance mechanism 42. Can be controlled appropriately.
• the speed of the foot 22 in the vertical direction or the direction perpendicular to the floor perpendicular is the factor that affects the impact on the leg 2 when landing and the load loss when leaving the floor.
• the ratio is less than “0.1”
• the ability to reduce the impact on the leg 2 at the time of landing suddenly decreases, and the load is lost at the time of leaving the floor. If the condition becomes worse, the possibility that a part of the foot 22 will pull on the floor surface will increase rapidly.
• the ratio exceeds “10”
• the load loss when leaving the floor is good, but the load on the leg 2 when landing is temporary, even though it is temporary, the maximum value of the target floor reaction force.
• the possibility of exceeding is high. Therefore, in view of the strong knowledge, the movement of the leg 2 is controlled so that the ratio falls within [0, 1, 10], while mitigating the impact on the leg 2 during landing,
• the operation of the robot 1 can be stably controlled by assuming that the load loss at the time of getting off is good.

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• 2005
  • 2005-09-14 EP EP05783564A patent/EP1844908B1/en not_active Expired - Fee Related
  • 2005-09-14 US US11/718,054 patent/US7860613B2/en not_active Expired - Fee Related
  • 2005-09-14 WO PCT/JP2005/016891 patent/WO2006064598A1/ja active Application Filing
  • 2005-09-14 JP JP2006548702A patent/JP4912891B2/ja not_active Expired - Fee Related
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